JP2002107178A - Absolute position detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the detection method of an absolute position, using a wide measurement range, high resolution, and a simple structure by using a reluctance resolver. SOLUTION: First and second driving gears 15 and 17 are fixed to a main rotary shaft 8 of a 4X reluctance resolver 7. First to third follower gears 19, 21, and 23 engaging with the first and second driving gears are fixed to first to third sub rotary shafts 10, 12, and 14 of the 1X reluctance resolvers 9, 11, and 13. A speed (y) of the rotary shaft of a motor is obtained from y=N1*Pi+ Ri(i=1-N). A rotary angle yy of the first sub rotary shaft is obtained by integers N1 and P1, that are obtained when obtaining the multiple speed (y), and RR1 (angle) obtained from the actual measurement values of θ10 according to yy=N1*P1+R1+RR1= y+RR1. The absolute position is obtained from y and yy.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a method for detecting an absolute position using a plurality of reluctance resolvers.

[0002]

2. Description of the Related Art Japanese Patent Publication No. 5-38243 discloses a method of determining an absolute position of a moving body based on rotation angles of a plurality of gears rotating at a fixed rotation ratio according to movement of a driven body. Detector for detecting the amount of mechanical change L (x) associated with the movement of the driven body with the period (P1, P2, P3) of the mechanical periodic movement corresponding to the mechanical movement of the driven body and the amount of change less than one cycle Using the set of measured values of the outputs Δp1, Δp2, Δp3, by selecting P1, P2, and P3 as prime integers, L (x) = N1 × P1 + Δp1 L (x) = N2 × P2 + Δp2 L (x) = N3 × P3 + Δp3 There is only one N1, N2, N3 that satisfies the relationship. From this relationship, the absolute position L (x) can be obtained. Further, in Reference 1, a 5X resolver is used in order to obtain a resolution of P1, P2, and P3 or less.

Further, Japanese Patent Publication No. Hei 5-21166 discloses the first
A 5X resolver and a 1X resolver are used for the shaft.

[0004]

In the former method, the resolution is improved five times by using a 5X resolver as a detector for detecting the mechanical movement of the driven body as compared with the case of using a 1X resolver. There is a problem that it is reduced to / 5. In the latter method, a 1X resolver and 10
An X resolver is attached to increase the resolution ten times without changing the measurement range. However, there is a problem that the number of members increases and the structure becomes complicated.

An object of the present invention is to provide a method of detecting an absolute position using a device having a wide measuring range, high resolution and a simple structure.

[0006]

According to the present invention, there is provided an inductor-type main rotor that rotates about a main rotation axis fixed to a shaft on a detection side, and is arranged so as to surround the main rotor. A yoke and n × m magnetic pole portions (where n is a multiple of 4 and m is an integer of 1 or more) magnetically coupled by the yoke, and a mechanical angle within an angle range of 360 ° / m. To n
A plurality of detection cores formed by winding winding conductors so that the winding direction is alternately changed on alternate magnetic pole portions of the n × m magnetic pole portions. The first detecting winding configured by connecting the winding portions in series, the winding direction is alternately different to every other one of the remaining n × m magnetic pole portions. A second detection winding formed by connecting a plurality of detection winding portions formed by winding a winding conductor in series, and the n × m magnetic pole portions are alternately different in polarity. And a stator having an exciting winding that excites the magnetic field, the inductance of the n detecting winding portions provided in the n magnetic pole portions within the angular range according to the rotation of the main rotor, 90 in electrical angle
N × m so as to periodically change with a phase difference of
MX reluctance resolver in which the positions of the magnetic pole portions and the shape of the main rotor are determined, and the axis of the main rotation shaft at a position facing the main rotor on one side in the axial direction of the main rotation shaft. A plurality of sub-rotating shafts arranged so as to be parallel to each other, sub-rotating shaft supporting means for rotatably supporting the plurality of sub-rotating shafts, and a gear ratio between the main rotating shaft and the sub-rotating shaft. A transmission mechanism including a plurality of connecting gear mechanisms connected by a plurality of sub-rotors rotating around the plurality of sub-rotating shafts, and a yoke and a plurality of sub-rotors arranged so as to surround the plurality of sub-rotors. A sub-stator core having n magnetic pole portions magnetically connected by the yoke and having the n magnetic pole portions within an angle range of 360 ° in mechanical angle; one of the n magnetic pole portions; On every other magnetic pole A first auxiliary detection winding formed by connecting two detection winding portions formed by winding winding conductors so that the winding directions are different from each other, and the n magnetic poles; A second detection winding portion formed by winding a winding conductor so that the winding direction is alternately different from the remaining magnetic pole portion in the other one of the other portions, and formed in series. 2
And a plurality of sub-stators each having a sub-detection winding and an excitation winding which excites the n magnetic pole portions alternately with different polarities, and the angle range according to the rotation of the sub-rotor. The inductance of the n windings for detection provided at the n magnetic poles in the inner portion is 90 electrical degrees.
A method of detecting an absolute position using a plurality of 1X reluctance resolvers in which the positions of the n magnetic pole portions and the shape of the sub-rotor are determined so as to periodically change with a phase difference of °. Tn: the number of teeth of the drive gear fixed to the main rotation shaft, Ti: the number of teeth of the i-th driven gear fixed to the i-th sub rotation shaft (i = 1 to N), Pn: the rotation shaft Absolute position of the (moving object), Δ: Pn = kΔ + θn, assuming detection angle width,
Here, k is an integer, θn is an angle smaller than Δ, and the number of teeth Ti (i = 1 to N) of the i-th driven gear fixed to the i-th auxiliary rotation shaft is a relatively prime and meshing tooth. The difference between the numbers of teeth is 1 and the number of teeth T1 of the driven gear of the first auxiliary rotation shaft, which is also used for determining the absolute position within one rotation, is:
The number of teeth of the driving gear on the main rotating shaft side meshing with this is kept in a relatively prime relationship with the number of poles n of the resolver driven by the main rotating shaft, and first, from the resolver fixed to the driven gear of the i-th auxiliary rotating shaft. Is obtained by the following equation, and θi = (Tn / Ti) · Pn-iFix [(Tn / T
i) · Pn / Δ] · Δ where iFiX [A] is the integer part of A, where
Position data θ1 of the sub rotation axis and position data θ0 of the main rotation axis
Into the equation θ10 = θ1−θ0 / n. Then, for the i-th sub-rotation axis after the second sub-rotation axis, θ0 ′ such that θ0 changes 360 degrees within one cycle of Pn is obtained. The difference value is obtained by the following equation, and θi0 = θi−θ0 ′ (i = 2 to N) where θ0 ′ is a value obtained by converting θ0 into a value that changes by 360 ° within one rotation of the mechanical angle. , The position data θi of the i-th sub-rotational axis is actually measured, the actual measurement value of θi0 is obtained, the rotational speed Ri of the i-th sub-rotational axis is obtained, and these R
1, R2,. . . By the combination of RNs, the rotation speed y of the rotation shaft of the motor is obtained by the following equation. Y = Ni * Pi + Ri (where i = 1 to N) Next, the rotation angle yy of the first sub rotation shaft is calculated by multi-rotation speed. yy = N1 * P1 + R1 + RR1 = y + RR1 Using the integers N1 and P1 obtained when obtaining y and RR1 (angle) obtained from the actually measured value of θ10, the absolute position detection method is characterized by being obtained by the above equation. .

According to the present invention, it is possible to realize a detection method using a device having a simple structure with a wide measurement range and high resolution.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram conceptually showing a hardware configuration of an absolute position detector 1 using a reluctance resolver of the present invention. In this embodiment, in order to detect the absolute position of the rotating shaft 5 of the motor 3, one 4X reluctance resolver 7 and three 1X reluctance resolvers 7 are used.
Reluctant resolvers 9, 11, and 13 are used. Here, the 4X reluctance resolver is a reluctance resolver that outputs four cycles of absolute position data signals during one rotation of the rotor directly connected to the rotating shaft. The 1X reluctant resolver is directly connected to the rotating shaft. This is a reluctance resolver that outputs an absolute position data signal for one cycle while the rotated rotor makes one rotation. In this example, 4
The main rotation shaft 8 of the X reluctance resolver 7 is connected to the rotation shaft 5 of the motor 3. First and second drive gears 15 and 17 are fixed to the main rotation shaft 8. Also, the first auxiliary rotation shaft 1 of the first 1X reluctance resolver 9
At 0, a first driven gear 19 that meshes with the first drive gear 15 is fixed. A second driven gear 21 that meshes with the second drive gear 17 is fixed to the second auxiliary rotation shaft 12 of the second 1X reluctance resolver 11. Further, a third auxiliary rotating shaft 14 of the third 1X reluctance resolver 13 has a third driving gear 17 meshed with a third driving shaft 17.
Of the driven gear 23 is fixed. The gear ratio of each drive gear and driven gear is as shown in FIG. Gear 15 or 2
3 forms a transmission mechanism including three gear mechanisms. The gear ratio between the first driving gear 15 and the first driven gear 19 is 25:26, the gear ratio between the front driving gear 17 and the second driven gear 21 is 28:27, and the second driving gear The gear ratio between the gear 17 and the third driven gear 23 is 28:29.

FIGS. 2 and 3 are a schematic view and a cross-sectional view, respectively, showing the structure of an absolute position detector using a reluctance resolver that specifically realizes the configuration of FIG. 1 as one structure. In FIG. 2, illustration of the winding is omitted. In these figures, the same members as those shown in FIG.
The same reference numerals are given to the reference numerals. First, the 4X reluctance resolver 7 has an inductor-type main rotor 25 that rotates about a main rotation shaft 8 fixed to the rotation shaft 5 of the motor 3. The main rotor 25 has a structure in which an inductor 29 is fixed to an outer peripheral portion of a cup-shaped rotating body 27 that opens toward the side where the first to third sub-rotating shafts 10, 12, 14 are located. ing. Inductor 29 is 360 ° mechanical angle
It has four identical guides between the intervals. A main stator 39 is arranged so as to surround the main rotor 25. The main stator 39 has an annular yoke 41 arranged so as to surround the main rotor 25, and 16 (4 m) magnetic pole portions 43 magnetically connected by the yoke 41.
44. Are provided. The stator core 45 has four magnetic pole portions 43 and 44 within a mechanical angle of 90 ° [that is, 360 ° / m (where m is an integer of 2 or more)]. A bobbin 47 having two annular grooves a and b capable of separately winding a detection winding and an excitation winding is mounted on each magnetic pole portion. Of the 16 (4 m) magnetic pole portions 43, 44, the winding conductors are wound around the bobbins 47 of the other magnetic pole portions 43. Are formed respectively, and the plurality of detection winding portions 49 are connected in series to form a first detection winding 51. The winding conductors are alternately wound around the grooves a of the bobbins 47 of the remaining magnetic pole portions 44 out of the 16 (4 m) magnetic pole portions so that the winding directions are different from each other. The use winding part 53 is formed. These detection winding portions 53 are connected in series to form a second detection winding 55. In the groove b of the bobbin 47 of the sixteen magnetic pole portions 43 and 44, an exciting winding 57 for exciting each magnetic pole portion alternately to a different polarity is wound. Reference numeral 58 denotes a first circuit board on which a wiring pattern to which the first and second detection windings 51 and 55 and the excitation winding 57 are electrically connected and a signal processing circuit are mounted. This circuit board 58 has an annular shape.

In accordance with the rotation of the main rotor 25, the inductances of the four detecting winding portions 49, 53 provided on the four magnetic pole portions 43, 44 within an angle range of 90 ° become 0 ° in electrical angle and 0 ° in electrical angle. To change periodically with a phase difference of 90 °, 180 ° and 270 °. 16 (4m) magnetic poles 4
The positions of 3, 44 and the shape of the main rotor 25 are defined. In this example, the yoke 41 is connected to the frame structure 59.
Of the first frame structure portion 61 constituting the first frame structure. A second frame structure portion 63 is fitted on the first frame structure portion 61 using a fitting structure,
Both are fixed to the casing of the motor 3 using a screw member 65.

First to third auxiliary rotation shafts 10, 12, 14
Is disposed at a position facing the main rotor 25 on one side in the axial direction of the main rotation shaft 8 so that the axis is parallel to the axis of the main rotation shaft 8. First to third auxiliary rotation shafts 10, 1
2, 14 are bearings 6 for rotatably supporting them.
7, and is supported by the second frame structure portion 63. In this example, the bearing 67 and the frame structure 6
3 constitute sub-rotating shaft support means.

1X reluctance resolvers 9, 11, 13
Is basically the same as the structure of the 4X reluctance resolver 7 described above. The 1X reluctance resolvers 9, 11, and 13 respectively include first to third sub-rotating shafts 1
There are first to third sub-rotors 69, 71, 73 that rotate about 0, 12, and 14, respectively. Also one
Sub-stator 7 of X reluctance resolver 9, 11, 13
0, 72, 74 are first to third sub-rotors 69, 7
1 and 73, respectively,
77 and 79 and four magnetic pole portions 43 and 44 magnetically connected by the yoke.
And a sub stator core 81, 83, 85 having four magnetic pole portions 43, 44 within an angle range of °. The same bobbins 47 as described above are fitted to the magnetic pole portions 43 and 44, respectively. Then, two detection winding portions 87 formed by winding a winding conductor alternately around the other magnetic pole portions 43 of the four magnetic pole portions so that the winding directions are different are connected in series. A winding conductor is wound around the configured first sub-detection winding 89 and the other one of the four magnetic pole portions so that the winding direction is alternately different. A second detection winding unit 91 configured by connecting two detection winding portions 91 in series.
, And an excitation winding 95 for alternately exciting the four magnetic pole portions 43 and 44 to different polarities. In accordance with the rotation of the sub-rotors 69, 71, 73, the four magnetic pole portions 43, 44 within an angle range of 360 ° in mechanical angle.
The inductance of the four detection windings provided in
The four magnetic pole portions 43 and 4 are periodically changed with a phase difference of 0 °, 90 °, 180 ° and 270 ° in electrical angle.
4 and the shape of the inductors of the sub-rotors 69, 71, 73 are defined. Reference numeral 97 denotes a circuit board on which a wiring pattern to which the windings of each 1X reluctance resolver are electrically connected and a signal processing circuit are mounted.

The frame structure 59 includes the main stator 3
9 to which the first frame structure portion 61 is fixed, the auxiliary rotating shaft support means, and the first to third auxiliary stators 70, 72, 7
4 is fixed to the second frame structure portion 63 to which it is fixed. As described above, in this embodiment, the main stator 39, the sub-rotating shaft support means and the first to third sub-stators 70, 72, 74 are fixed to the frame structure 59, and the transmission mechanism is the main rotor. Since it is located inside the 25 rotating bodies 27, an absolute position detector in which four reluctance resolvers are combined can be configured compactly.

Next, the concept of detecting the absolute position by the absolute position detector of the present invention will be described using a general formula. In the present invention, an nX reluctance resolver (n is an integer of 2 or more) provided on the main rotation shaft, a drive gear fixed on the main rotation shaft, and an i-th reciprocal resolver fixed on the i-th sub rotation shaft and meshing with the drive gear A configuration in which a plurality (N) of 1X reluctance resolvers (single-pole resolvers) that are rotationally driven by rotation of the driven gears are employed.

The contents of the symbols used in the following description are as follows.

Tn is the number of teeth of the drive gear fixed to the main rotation shaft.

Ti: the number of teeth (i = 1 to N) of the i-th driven gear fixed to the i-th sub-rotating shaft.

Pn: Absolute position of the rotation axis (moving object).

Δ: detected angle width (actually 360 degrees) Here, there is a relationship of Pn = kΔ + θn (1). Here, k is an integer, and θn is an angle smaller than Δ. The number of teeth Ti (i = 1 to N) of the i-th driven gear fixed to the i-th auxiliary rotation shaft is relatively prime, and the difference between the numbers of teeth meshing with each other is 1. 1
The number of teeth T1 of the driven gear of the first sub-rotating shaft, which is also used for the determination of the absolute position in the rotation, is determined by the number of teeth of the driving gear on the main rotating shaft that meshes with the number of teeth n And keep a disjoint relationship.

First, position data θi from the resolver fixed to the driven gear of the i-th auxiliary rotation shaft can be calculated as a function of the absolute position Pn by the following equation.

Θi = (Tn / Ti) · Pn−iFiX [(Tn / Ti) · Pn / Δ] · Δ (2) where iFiX [A] is an integer part of A. Absolute position P
n is expressed in units of angles. I = 0 represents the number of the main rotation axis. The i-th position data θi is
This is an angle (electrical angle) calculated from the sin signal and cos signal from each 1X resolver. The position data θi takes a value between 0 and Δ (360 degrees).

Here, θ10 obtained by inserting the position data θ1 of the first auxiliary rotation axis and the position data θ0 of the main rotation axis into the equation θ10 = θ1-θ0 / n (3) is one rotation. It can be used to determine the absolute position (mechanical angle) in the inside. However, when θ10 becomes a value smaller than 0, Δ is added to θ10 so that θ10 is in the range of 0 to Δ (θ10 + Δ). An actual measurement value of θ10 is calculated from the position data θ0 of the main rotation axis and the position data θ1 of the first sub rotation axis, and the rotation speed R1 (0) of the first sub rotation axis is calculated from the actual measurement value, the calculation results of θ10 and Pn. It is determined at which position RR1 the rotation axis is located at an angle obtained by equally dividing one rotation into n times the rotation of the rotation axis.

Next, for the i-th sub-rotation axis after the second sub-rotation axis, a difference value is obtained as follows using θ0 ′ such that θ0 changes 360 degrees within one cycle of Pn.

Θi0 = θi−θ0 ′ (i = 2 to N) (4) Here, θ0 ′ is such that θ0 changes 360 ° within one rotation of the mechanical angle (in the case where a 1 × resolver is used). (Equivalent) value. In other words, θ0 ′ is an angle converted so that θ0 changes by 360 degrees when Pn changes by 360 degrees. θi0 is calculated as a function of the absolute position Pn. In this case as well, if θi0 is smaller than 0, Δi0 is set to Δ so that θi0 is between 0 and Δ.
Is added. Then, based on this formula, the position data θi of the i-th sub-rotation axis is actually measured, the actual measurement value of θi0 is obtained, and the rotation speed Ri of the i-th sub-rotation axis is obtained.

Next, these R1, R2,. . . By the combination of RNs, the rotational speed y of the rotating shaft of the motor is expressed by the following equation.

Y = Ni * Pi + Ri (where i = 1 to N) (5) There is only one set of integers Ni satisfying the above equation (5). y is the number of rotations of the motor that drives the main rotation shaft. Here, Ni is an integer indicating how many times the period Pi of the rotation speed Ri comes, and Pi is Ri obtained from the relational expression between θi0 and Pn.
Is equivalent to the width of one cycle of the relationship between θi0 and Pn.

Next, the rotation angle yy of the first sub-rotating shaft is calculated by the following equation using the integers N1 and P1 obtained when obtaining the multiple rotations y and RR1 (angle) obtained from the actually measured value of θ10. Ask.

Yy = N1 * P1 + R1 + RR1 = y + RR1 (6) From this equation, it is possible to accurately obtain a resolution of 1 / n of one rotation. Yy represents the absolute position Rn of the driven body in units of angles.

Next, the case of detecting the absolute position in the specific embodiment shown in FIGS. 1 to 3 will be specifically described. As described above, the number of teeth of each gear is as follows.

Number of teeth Tn of main shaft side drive gear Tn Number of driven gear teeth Ti First driven gear 25 26 (T1) Second driven gear 28 27 (T2) Third driven gear 28 29 (T3) Also, main rotating shaft The side gear resolver is a 4X resolver.
In this case, the position data θ0 of the main rotary shaft 8 is converted to the absolute position Pn.
From the relationship with the following formula (7).

Θ0 = 4Pn−iFiX (Pn / 90) · 360 (7) θ0 obtained from this equation has a period of 90 ° and a height of 36.
It becomes a sawtooth wave of 0 °.

Next, the position data θ1 obtained by the 1X resolver 9 (RS1) based on the above equation (2) is obtained as follows.

Θ1 = (25/26) Pn-iFiX [(25 /
26) Pn / 360] · 360 This θ1 is a sawtooth wave having a period of 360 ° × (26/25) and a height of 360 °.

Similarly, 1X is calculated based on the above equation (2).
Position data θ2 obtained by the resolver 11 (RS2)
Is obtained as follows.

Θ2 = (28/27) Pn-iFiX [(28/2
7) Pn / 360] .360 The thus obtained θ2 has a cycle of 360 ° × (27 /
28), a sawtooth wave having a height of 360 ° is formed.

Similarly, 1X is calculated based on the above equation (2).
Position data θ3 obtained by the resolver 13 (RS3)
Is obtained as follows.

Θ3 = (28/29) Pn-iFiX [(28/2
9) Pn / 360] · 360 The thus obtained θ3 has a cycle of 360 ° × (29 /
At 28), a sawtooth wave having a height of 360 ° is formed.

FIG. 4 shows the obtained θ0 to θ3 as a function of the absolute position Pn.

Next, based on the above equation (3), θ10 = (θ
The calculation of (0/4) -θ1 is as follows.

Θ10 = (1/26) Pn-iFiX (Pn
/ 90) ・ 90 + iFiX ((25/26) Pn / 36
0) · 360 mod (360) This relationship is shown in FIG. 9 in every 90 degrees in the second term of the above equation
It decreases stepwise at 0 degrees, and according to the third term, 360 ° × (2
Every 6/25) would increase by 360 °. mod
The symbol (360) indicates that when θ10 does not fall between 0 and 360 degrees, 360 is added or subtracted so as to fall within this range. The same applies to the following description.

Based on FIG. 5, R1 can be obtained from the actually measured value of θ10. Further, from the actually measured value of θ10, it is possible to know which of the sections of the unit of 90 ° is in the section of 360 ° of one rotation of R1. In other words, it is possible to know at which stage of the 90 ° the resolution within one 360 ° cycle corresponds. For example, in FIG. 5, in the section of Pn = 5400-5490, R1 = 15 and RR1 = 0 from FIG. 5, and in this range, θ10 is 5400/26 = 207.7 ° to 5490.
/26=211.15°. FIG.
In this case, R1 and RR1 corresponding to the section of θ10 do not exist other than the above values. That is, from the value of θ10, R1 and R
R1 is uniquely determined. Next, similarly, when θ20 is obtained, the following equation is obtained.

Θ20 = θ2-θ0 ′ = (1/27) Pn +
iFiX (Pn / 360) 360-iFiX ((28
/27)Pn/360).360=(1/27)Pn
mod (360) This relationship is shown in FIG. FIG. 7 shows a graph of θ0 ′. In FIG. 4, θ20 is a sawtooth wave having a cycle of 360 ° × 27 = 9720 ° and varying between 0 ° and 360 °. θ20 is 0
The angle is adjusted by 360 ° so as to fall within the range of 360 ° to 360 °. Using the graph of FIG. 6 that gives the relationship between θ20 and Pn, R2 can be obtained from the measured value of θ20.

Next, similarly, when θ20 is obtained, the following equation is obtained.

Θ30 = θ0′−θ3 = (1/29) Pn +
iFiX (Pn / 360) 360-iFiX ((28
/29)Pn/360).360=(1/29)Pn
mod (360) This relationship is shown in FIG. As can be seen from FIG. 8, θ30 is a sawtooth wave varying between 0 and 360 ° with a period of 360 ° × 29 = 19440 °. 360 ° is added or subtracted so that θ30 falls within the range of 0 to 360 °. Θ3 shown in FIG.
Using a graph showing the relationship between 0 and Pn, R3 is determined from the measured value of θ30.

Next, using the following three equations, the number of rotations R1,
Find R2, R3, y.

Y = N1 * 26 + R1 (8a) y = N2 * 27 + R2 (8b) y = N3 * 29 + R3 (8c) Using this equation, the integer value R1 previously obtained, An integer value of N1, N2, N3 and y is obtained from a set of R2 and R3. These are uniquely determined. FIG. 9 shows the relationship between R1, R2, and R3 and the rotational speed y. According to the table shown in FIG. 9, for example, R1 = 1
5, when R2 = 14 and R3 = 12, y = 41.

Further, when the rotation angle yy of the rotation shaft is obtained by using the integers N1 and P1 obtained when obtaining the multiple rotation number y and RR1 obtained from the actually measured value of the relationship between θ10 and Pn, the following is obtained. Become.

Yy = N1 * R1 + R1 + RR1 = y + R
R1 = 41 + 0 = 41 As a result, the value of yy can be accurately obtained up to a resolution of 1/4 of one rotation.

According to such a method, high resolution can be easily obtained in a wide measurement range.

[0050]

According to the present invention, it is possible to realize a detection method using a device having a simple structure with a wide measurement range and high resolution.

[Brief description of the drawings]

FIG. 1 is a block diagram conceptually showing a hardware configuration of an absolute position detector using a reluctance resolver for implementing a method of the present invention.

FIG. 2 is a schematic diagram of a structure of an absolute position detector using a reluctance resolver that specifically realizes the configuration of FIG. 1 as one structure.

FIG. 3 is a sectional view of the absolute position detector of FIG. 2;

FIG. 4 is a diagram showing θ0 to θ3 as a function of an absolute position Pn.

FIG. 5 is a diagram showing θ10 = (θ0 / 4) -θ1 as a function of the absolute position Pn.

FIG. 6 is a diagram showing θ2−θ0 ′ as a function of an absolute position Pn.

FIG. 7 is a diagram showing θ0 ′ as a function of an absolute position Pn.

FIG. 8 is a diagram showing θ0′−θ3 as a function of an absolute position Pn.

FIG. 9 is a diagram illustrating a relationship between R1, R2, and R3 and a rotation speed y.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Absolute position detector 3 Motor 5 Rotating shaft 7 4X reluctance resolver 8 Main rotating shaft 9,11,13 1X reluctant resolver 10,12,14 Subrotating shaft 15,17 Drive gear 19,21,23 Follower gear 25 Main rotor 27 Rotating body 29 Inductor 39 Stator 41 Yoke 43, 44 Magnetic pole part 45 Stator core 47 Bobbin 49, 53, 87, 91 Detecting winding part 51, 55 Detecting winding 57, 95 Exciting winding 58, 97 Circuit board 59 Frame Structure 61, 63 Frame structure 65 Screw member 67 Bearing 69, 71, 73 Sub rotor 70, 72, 74 Sub stator 81, 83, 85 Sub stator core 89, 93 Sub detection winding

Continuing from the front page (72) Inventor Sakae Kishi 1-15-1 Kita-Otsuka, Toshima-ku, Tokyo Sanyo Electric Co., Ltd. (72) Inventor Shigeharu Kato 1-15-1 Kita-Otsuka, Toshima-ku, Tokyo Sanyo Inside Electric Co., Ltd. (72) Inventor Toru Miyajima 1-1-15 Kita-Otsuka, Toshima-ku, Tokyo Sanyo Electric Co., Ltd. F-term (reference) PP26 QQ05 QQ15 VV01

Claims (1)

[Claims] 1. An inductor-shaped main rotor that rotates about a main rotation axis fixed to a shaft on a detection side, and is arranged so as to surround the main rotor. N × m concatenated (where n is a multiple of 4 and m is 1
(Integral number of the above), and has a mechanical angle of 36
A stator core having n magnetic pole portions in an angle range of 0 ° / m, and winding conductors are arranged such that the winding direction is alternately different in every other magnetic pole portion among the n × m magnetic pole portions. A first detection winding configured by connecting a plurality of detection winding portions formed by winding in series, and the other of the n × m magnetic pole portions, every other one of the magnetic pole portions; A second detection winding formed by connecting a plurality of detection winding portions formed by winding winding conductors so that the winding directions are alternately different from each other, and the nxm And a stator having exciting windings for exciting the magnetic pole portions alternately to different polarities, wherein n within the angular range is set according to the rotation of the main rotor.
And the positions of the n × m magnetic pole portions so that the inductance of the n detection winding portions provided in the magnetic pole portions periodically changes with a phase difference of 90 ° in electrical angle. An mX reluctance resolver in which the shape of the main rotor is determined, and arranged at a position facing the main rotor on one side in the axial direction of the main rotation shaft such that the axis is parallel to the axis of the main rotation shaft. A plurality of sub-rotating shafts, sub-rotating shaft supporting means for rotatably supporting the plurality of sub-rotating shafts, and a plurality of connecting members for connecting the main rotating shaft and the sub-rotating shaft at a predetermined gear ratio. A transmission mechanism comprising a gear mechanism; a plurality of sub-rotors each rotating around the plurality of sub-rotation shafts; and a plurality of sub-rotors arranged so as to surround the plurality of sub-rotors, and magnetically coupled by the yoke and the yoke. With n magnetic pole parts Is composed, 36 in mechanical angle
A sub-stator core having n magnetic pole portions within an angle range of 0 °, and a winding conductor wound around alternate magnetic pole portions of the n magnetic pole portions so that the winding direction is alternately different. A first sub-detection winding formed by connecting two detection winding portions formed in series, and alternately wound around the remaining one of the n magnetic pole portions. A second sub-detection winding formed by serially connecting two detection windings formed by winding winding conductors in different line directions and the n magnetic poles are respectively And a plurality of sub-stators each having an excitation winding that alternately excites with a different polarity, and the n sub-stators provided in the n magnetic pole portions within the angle range according to the rotation of the sub-rotor. The inductance of the detection winding changes periodically with a phase difference of 90 ° in electrical angle A method of detecting an absolute position using a plurality of 1X reluctance resolvers in which the positions of the n magnetic pole portions and the shape of the sub-rotor are determined, wherein Tn: drive fixed to the main rotation shaft Number of gear teeth, Ti: Number of teeth of i-th driven gear fixed to i-th auxiliary rotation shaft (i = 1 to N), Pn: Absolute position of rotation shaft (moved body), Δ: Detection angle In terms of width, Pn = kΔ + θn, where k is an integer, θn is an angle smaller than Δ, and the number of teeth Ti (i) of the i-th driven gear fixed to the i-th auxiliary rotation shaft = 1 to N) are mutually prime, the difference between the numbers of teeth meshing with each other is 1, and the number of teeth T1 of the driven gear of the first sub-rotating shaft used for determining the absolute position within one rotation is: The number of teeth of the drive gear on the main rotating shaft that meshes with this is determined by the resolver driven by the main rotating shaft. First, position data θi from the resolver fixed to the driven gear of the i-th auxiliary rotation shaft is obtained by the following equation, and θi = (Tn / Ti) · Pn-iFiX [( Tn / T
i) · Pn / Δ] · Δ where iFiX [A] is an integer part of A. Here, the position data θ1 of the first sub-rotation axis and the position data θ0 of the main rotation axis are represented by θ10 = θ1−θ0. / N. Then, for the i-th sub-rotation axis after the second sub-rotation axis, θ
A difference value is obtained by the following equation using θ0 ′ such that 0 changes 360 degrees within one cycle of Pn, and θi0 = θi−θ0 ′ (i = 2 to N) where θ0 ′ is a mechanical value of θ0. It is converted into a value that changes by 360 ° within one rotation of the angle. The position data θi of the i-th sub-rotation axis is actually measured, and θi0
Are obtained, and the rotation speed Ri of the i-th auxiliary rotation shaft is obtained. Next, these R1, R2,. . . By the combination of RNs, the rotation speed y of the rotation shaft of the motor is obtained by the following equation. Y = Ni * Pi + Ri (where i = 1 to N) Next, the rotation angle yy of the first sub rotation shaft is calculated by multi-rotation speed. yy = N1 * P1 + R1 + RR1 = y + RR1 Using the integers N1 and P1 obtained when obtaining y and RR1 (angle) obtained from the actually measured value of θ10, the absolute position detection method is obtained.